/**
 * 
 * STM32 Bluepill position motion control example with magnetic sensor
 * 
 * The same example can be ran with any STM32 board - just make sure that put right pin numbers.
 * 
 */
#include <SimpleFOC.h>

// SPI Magnetic sensor instance (AS5047U example)
// MISO PA7
// MOSI PA6
// SCK PA5
MagneticSensorSPI sensor = MagneticSensorSPI(PA4, 14, 0x3FFF);

// I2C Magnetic sensor instance (AS5600 example)
// make sure to use the pull-ups!!
// SDA PB7
// SCL PB6
//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0X0C, 4);

// Motor instance
BLDCMotor motor = BLDCMotor(11);
// BLDCDriver3PWM(IN1, IN2, IN3, enable(optional))
BLDCDriver3PWM driver = BLDCDriver3PWM(PB6, PB7, PB8, PB5);
// BLDCDriver6PWM(IN1_H, IN1_L, IN2_H, IN2_L, IN3_H, IN3_L, enable(optional))
//BLDCDriver6PWM driver = BLDCDriver6PWM(PA8, PB13, PA9, PB14, PA10, PB15, PB12);


// angle set point variable
float target_angle = 0;
// instantiate the commander
Commander command = Commander(Serial);

void doTarget(char *cmd)
{ command.scalar(&target_angle, cmd); }


void setup()
{

    // initialise magnetic sensor hardware
    sensor.init();
    // link the motor to the sensor
    motor.linkSensor(&sensor);

    // driver config
    // power supply voltage [V]
    driver.voltage_power_supply = 12;
    driver.init();
    // link the motor and the driver
    motor.linkDriver(&driver);

    // choose FOC modulation (optional)
    motor.foc_modulation = FOCModulationType::SpaceVectorPWM;

    // set motion control loop to be used
    motor.controller = MotionControlType::angle;

    // contoller configuration
    // default parameters in defaults.h

    // velocity PI controller parameters
    motor.PID_velocity.P = 0.2;
    motor.PID_velocity.I = 20;
    // maximal voltage to be set to the motor
    motor.voltage_limit = 6;

    // velocity low pass filtering time constant
    // the lower the less filtered
    motor.LPF_velocity.Tf = 0.01;

    // angle P controller
    motor.P_angle.P = 20;
    // maximal velocity of the position control
    motor.velocity_limit = 40;

    // use monitoring with serial
    Serial.begin(115200);
    // comment out if not needed
    motor.useMonitoring(Serial);


    // initialize motor
    motor.init();
    // align sensor and start FOC
    motor.initFOC();

    // add target command T
    command.add('T', doTarget, "target angle");

    Serial.println(F("Motor ready."));
    Serial.println(F("Set the target angle using serial terminal:"));
    _delay(1000);
}

// angle set point variable
float target_angle = 0;

void loop()
{

    // main FOC algorithm function
    // the faster you run this function the better
    // Arduino UNO loop  ~1kHz
    // Bluepill loop ~10kHz
    motor.loopFOC();

    // Motion control function
    // velocity, position or voltage (defined in motor.controller)
    // this function can be run at much lower frequency than loopFOC() function
    // You can also use motor.move() and set the motor.target in the code
    motor.move(target_angle);


    // function intended to be used with serial plotter to monitor motor variables
    // significantly slowing the execution down!!!!
    // motor.monitor();

    // user communication
    command.run();
}